JPH06134689A - Whirling motion range regulation device of robot - Google Patents

Abstract

PURPOSE:To safely set a robot even in a narrow place where a setting space is limited without interferring with other devices. CONSTITUTION:In a robot provided with a whirling arm 2 on a robot main body 1 and a whirling base 6 on the head end of the whirling arm 2 free to whirl through a first rotary shaft 3 and a second rotary shaft 7, a first wrapping wheel 11 is fixed on the concentric axis with the first rotary shaft 3 on the robot main body 1 while a second wrapping wheel 12 is provided on the second rotary shaft 7 free to rotate, and the first wrapping wheel 11 and the second wrapping wheel 12 are connected to each other by a wrapping body 13 while a detection device 20 to detect whether positional relation of the whirling base 6 and the second wrapping wheel 12 is positioned within a specified range is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning motion range regulating device for an industrial robot.

[0002]

2. Description of the Related Art FIG. 5 shows a conventional robot.

In FIG. 5, a is a robot main body, and the robot main body a has a base end portion of a swing arm b which is the robot main body a.
A second swivel c that is provided so as to be rotatable about a first rotation axis b1 that is arranged perpendicular to the first rotation axis b1, and that a swivel base c is disposed parallel to the first rotation axis b1 on the upper surface of the distal end portion of the swivel arm b.
It is provided so as to be rotatable around a rotary shaft c1, and a work arm d is horizontally provided on the swivel base c.

In order to operate the working arm d between the position indicated by the solid line and the position indicated by the alternate long and two short dashes line in FIG. 6, for example, the turning arm b and the turning base c can be turned 360 degrees. it can.

[0005]

However, in the above-mentioned conventional apparatus, the operable range of the working arm d is such a wide range as shown in FIG. 7 that includes a range not required for the work. When installing the own robot, there is a problem that another device or the like cannot be installed within the operation range of the robot for safety reasons, and a useless space is created. This problem can be solved by controlling the operating range with software, but there is a problem that if the robot runs out of control, there is no way to do it and it will not be an effective safety measure.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a robot which mechanically limits the operation range of the above configuration to only a necessary range.

[0007]

According to another aspect of the invention, there is provided a robot swinging range restricting device, wherein a swinging arm which is swingable around a first rotation axis is provided in a robot body, and the first rotation is provided at a tip of the swinging arm. In a robot provided with a swivel base that can swivel around a second rotary shaft that is arranged parallel to the shaft, a first winding wheel is fixed to the robot body on a concentric shaft with the first rotary shaft. At the same time, a second winding wheel is rotatably provided on the second rotating shaft on the axis concentric with the second rotating shaft, and the first winding wheel and the second winding wheel are linked by the winding body. On the other hand, a detection device for detecting whether or not the positional relationship between the swivel base and the second winding vehicle is within a predetermined range is provided.

[0008]

The first winding wheel is fixed to the robot body concentrically with the first rotation shaft, and the second rotation shaft is attached to the second rotation shaft.
A second winding wheel is rotatably provided on the concentric shaft with the rotating shaft, and
By linking the winding vehicle and the second winding vehicle with the winding body,
The first winding vehicle apparently rotates with respect to the turning arm in response to the turning motion of the turning arm, and the second winding wheel also rotates accordingly. Then, the positional relationship between the second winding vehicle and the swivel base is detected by the detection device, and only when the positional relationship between the swivel base and the second winding rail is within a predetermined range, the swivel arm and the swivel base are located. Allows the turning motion of the.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of a robot according to the present invention.

In FIG. 1, reference numeral 1 is a robot body, and the robot body 1 has a base end portion of a swing arm 2 which is the robot body 1 described above.
It is provided so as to be rotatable by a first rotating shaft 3 which is arranged perpendicular to the. A drive motor 5 is connected to the lower end of the first rotary shaft 3 via a speed reducer 4 attached to the robot body 1. The drive motor 5 causes the first rotary shaft 3 to rotate.
The rotating arm 2 connected to the first rotating shaft 3 is configured to be rotatable by rotating.

A swivel base 6 is provided on the upper surface of the tip of the swivel arm 2.
Is pivotably provided by a second rotary shaft 7 arranged in parallel with the first rotary shaft 3. A drive motor 9 is connected to a lower portion of the second rotary shaft 7 via a speed reducer 8 attached to the swivel arm 2. By rotating the second rotary shaft 7 by the drive motor 9, the second rotary shaft 7 is rotated. The swivel base 6 connected to the shaft 7 is configured to be rotatable.

The swivel base 6 is provided with a working arm 10 for performing an appropriate work such as assembling. The working arm 10 is configured to be extendable and retractable by a telescoping method or the like, and a member required for performing an appropriate work is provided at a tip portion thereof.

Further, a first sprocket 11 is fixed to the robot body 1 concentrically with the first rotating shaft 3, and a second sprocket 12 is attached to the second rotating shaft 7.
Are rotatably provided, and the first sprocket 11 and the second sprocket 12 are linked by a chain 13.

Incidentally, the sprocket 11 and the sprocket 1
The tooth ratio of 2 is set to 1: 1.1. This is because, in the operation control of the working arm 10 to be described later, the range in which the operating arm 10 projects to both sides of the robot body 1 together with the horizontal turning direction length of the slitter 21 to be described later is desired to be limited to a preset narrow range. is there.

Further, the swivel base 6 is included in the robot described above.
A detection device 20 for detecting whether or not the positional relationship between the second sprocket 12 and the second sprocket 12 is within a predetermined range is provided.

The detector 20 comprises a slitter 21 provided on the second sprocket 12 side and a detector 25 provided on the swivel 6 side.

The slitter 21 is the second sprocket 1
It is provided at the tip of the support member 22 fixed to 2,
It is formed in a slightly curved shape with a predetermined length in the horizontal turning direction.

The detector 25 (optical sensor in the embodiment) is attached to the tip of a support member 27 fixed to the swivel base 6,
Further, the slitter 21 is provided so as to be disposed in the recess 26 formed in the lower portion.

In this detector 25, the slitter 21 has the recess 2
6 is detected, and this detection signal is input to a control device (not shown), and the control device controls the work of the work arm 10 within the range in which the slitter 21 exists in the recess 26 as described later.

Now, the relationship between the sprocket 11 and the sprocket 12 associated with the turning motions of the turning arm 2 and the turning base 6 will be described.

When the swivel arm 2 is arranged in the front-rear direction as shown in FIG. 2, when the swivel arm 2 is swung 90 degrees leftward to the position shown by the solid line in FIG. 3, the sprocket 11 is moved by the robot. Since it is fixed to the main body 1, it does not rotate with respect to the robot main body 1, but apparently has made a quarter turn with respect to the revolving arm 2. As a result, the sprocket 12 supported by the second rotary shaft 7 that pivotally supports the swivel base 6 on the swivel arm 2 rotates in the P direction by an amount corresponding to the tooth ratio with the sprocket 11.

That is, since the tooth number ratio of the sprocket 11 and the sprocket 12 is set to 1: 1.1, the sprocket 12 rotates by less than a quarter. Since the slitter 21 also rotates in accordance with the rotation of the sprocket 12, the slitter 21 is located behind the tip of the revolving arm 2.

As a result, the swivel base 6, which is allowed to swivel only when the presence of the slitter 21 is detected by the detector 25, is horizontal when the swivel base 6 is arranged forward from the tip of the swivel arm 2. It is possible to turn left and right within an angle range θ corresponding to the length in the turning direction. Therefore, the swingable range of the work arm 10 provided on the swivel base 6 is also the same. here,
Since the rotation amount of the sprocket 12 is less than 1/4 according to the tooth ratio as described above, the rotation amount of the slitter 21 provided on the sprocket 12 is also less than 1/4, which causes the swivel base 6 to rotate. Can only turn from a position which is vertically arranged to the turning arm 2 to a position which is turned slightly outward.

Also, when the swivel arm 2 is swung 90 degrees to the right to the position shown by the chain double-dashed line in FIG. 3, the swivel range of the swivel base 6 and the working arm 10 is restricted by the same action as described above. To be done.

As a result, the turning operation range of the working arm 10 becomes the range shown in FIG. 4, and when it goes out of this range, the turning operation of the working arm 10 is stopped. In this way, the turning motion range can be minimized,
It has the advantage that it can be installed in a narrow space with a limited installation space, and that it is more secure than when it is restricted by software.

In this example, the sprockets 11 and 12 are used as the first and second winding wheels and the chain 13 is used as the winding body, but the first and second winding vehicles are used. The winding body is not limited to this, and may be a timing pulley or a timing belt.

[0028]

As described above, according to the present invention, since the swinging motion range of the working arm can be minimized, the working arm can be installed in a narrow place where the installation space is limited. However, it has an advantage that it is more secure than the case where it is regulated by software because it is detected mechanically.

[Brief description of drawings]

FIG. 1 is a partially cutaway side view showing a turning motion range restricting device for a robot according to the present invention.

FIG. 2 is an explanatory plan view for explaining the restriction of the turning motion of the work arm.

FIG. 3 is an explanatory diagram in a plan view for explaining regulation of a turning motion of a work arm.

FIG. 4 is a plan view showing a swing operation range of a work arm.

FIG. 5 is a partially cutaway side view showing a configuration of a conventional robot.

FIG. 6 is a plan view illustrating a turning operation of a work arm by a conventional robot.

FIG. 7 is a plan view showing a turning operation range of a conventional robot.

[Explanation of symbols]

 1 Robot Main Body 2 Revolving Arm 3 First Rotating Axis 6 Revolving Platform 7 Second Revolving Axis 11 Sprocket (1st Rolling Car) 12 Sprocket (2nd Rolling Car) 13 Chain (Winding Carriage) 20 Detection Device

Claims (1)

[Claims] 1. A robot body is provided with a swivel arm which is swivelable about a first rotary shaft, and swivelable around a second rotary shaft arranged in parallel with the first rotary shaft at the tip of the swivel arm. In the robot provided with such a swivel base, a first winding wheel is fixed to the robot body concentrically with the first rotation shaft, and a second winding shaft is attached to the second rotation shaft.
A second winding wheel is rotatably provided on the rotary shaft and a concentric shaft,
While the first winding vehicle and the second winding vehicle are linked by the winding body, it is detected whether or not the positional relationship between the swivel and the second winding vehicle is within a predetermined range. A turning movement range restriction device for a robot, characterized in that a detection device is provided.